Several prominent lane change models have been developed within the transportation community. In this study, we focus primarily on the “Minimizing Overall Braking Induced by Lane change” model, or MOBIL [1]}, [2]}. MOBIL is a lane change model that balances speed gain incentives for ego and neighboring vehicles when choosing a desired lane. Let \(g_{v_\text{ego}}\)  and \(g_{v_\text{neighbors}}\)  be the incentive of a given lane change from the perspective of the ego and neighboring vehicles, respectively, defined as:
\(g_{v_\text{ego}} = \tilde{a}_c - a_c\) 
\(g_{v_\text{neighbors}} = (\tilde{a}_n - a_n) + (\tilde{a}_o - a_o)\) 
